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extends CharacterBody3D |
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class_name Robot |
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@export var level_manager: LevelManager |
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@export var wheels: Array[Node3D] |
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@export var acceleration: float = 25.0 |
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@export var rotation_speed: float = 15.0 |
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@export var friction: float = 15.0 |
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@export var max_horizontal_speed: float = 10.0 |
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@export var gravity := Vector3.DOWN * 16.0 |
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@onready var robot_visual: Node3D = $"robot" |
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@onready var ai_controller: RobotAIController = $AIController3D |
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var current_level: int |
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var next_level |
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var requested_movement: Vector3 |
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var max_level_reached: int = 0 |
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var current_goal_transform: Transform3D |
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var previous_distance_to_goal: float |
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var conveyor_belt_areas_entered: int |
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var conveyor_belt_direction: int |
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var conveyor_belt_speed: float = 15.0 |
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func _ready(): |
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reset() |
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func reset(): |
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velocity = Vector3.ZERO |
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global_position = level_manager.get_spawn_position(current_level) |
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current_goal_transform = level_manager.randomize_goal(current_level) |
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previous_distance_to_goal = global_position.distance_to(current_goal_transform.origin) |
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func _physics_process(delta): |
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reset_on_needs_reset() |
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handle_movement(delta) |
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func reset_on_needs_reset(): |
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if ai_controller.needs_reset: |
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level_manager.reset_coins(current_level) |
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if next_level == null: |
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if randi_range(1, 6) == 1: |
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current_level = randi_range(0, current_level) |
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else: |
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current_level = next_level |
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next_level = null |
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level_manager.reset_coins(current_level) |
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reset() |
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ai_controller.reset() |
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func handle_movement(delta): |
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var movement := Vector3() |
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if ai_controller.heuristic == "human": |
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if Input.is_action_pressed("ui_up"): |
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movement.x = -1 |
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if Input.is_action_pressed("ui_down"): |
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movement.x = 1 |
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if Input.is_action_pressed("ui_left"): |
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movement.z = 1 |
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if Input.is_action_pressed("ui_right"): |
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movement.z = -1 |
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movement = movement.normalized() |
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else: |
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movement = requested_movement |
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apply_acceleration(movement, delta) |
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apply_gravity(delta) |
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apply_friction(delta) |
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apply_conveyor_belt_velocity(delta) |
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limit_horizontal_speed() |
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move_and_slide() |
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rotate_toward_movement(delta) |
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update_wheels_and_visual_rotation(delta) |
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func apply_conveyor_belt_velocity(delta): |
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if conveyor_belt_areas_entered > 0: |
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velocity += Vector3.LEFT * conveyor_belt_direction * conveyor_belt_speed * delta |
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func limit_horizontal_speed(): |
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var horizontal_velocity := Vector2(velocity.x, velocity.z).limit_length(max_horizontal_speed) |
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velocity = Vector3(horizontal_velocity.x, velocity.y, horizontal_velocity.y) |
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func apply_acceleration(direction, delta): |
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velocity += direction * acceleration * delta |
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func apply_friction(delta): |
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velocity = velocity.move_toward(Vector3(0, velocity.y, 0), friction * delta) |
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func apply_gravity(delta): |
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velocity += gravity * delta |
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func rotate_toward_movement(delta): |
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var movement = Vector3(velocity.x, 0, velocity.z).normalized() |
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var look_at_target: Vector3 = global_position + movement |
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if look_at_target.distance_to(global_position) > 0: |
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robot_visual.global_transform = ( |
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robot_visual |
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. global_transform |
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. interpolate_with(global_transform.looking_at(look_at_target), rotation_speed * delta) |
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. orthonormalized() |
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) |
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func update_wheels_and_visual_rotation(delta): |
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var movement := Vector2(velocity.x, velocity.z).length() |
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for wheel in wheels: |
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wheel.rotate_object_local(Vector3.LEFT, movement * delta) |
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robot_visual.rotation.x = -0.01 * movement |
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func _on_area_3d_area_entered(area): |
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if area.get_collision_layer_value(1): |
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#print("Level goal reached") |
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if not level_manager.check_all_coins_collected(current_level): |
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return |
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if current_level > max_level_reached: |
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max_level_reached = current_level |
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print("max level passed: ", max_level_reached) |
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next_level = (current_level + 1) % level_manager.levels. size() |
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end_episode(1.0) |
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if area.get_collision_layer_value(2): |
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#print("Coin picked up") |
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level_manager.deactivate_coin(area, current_level) |
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ai_controller.reward += 1 |
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if area.get_collision_layer_value(3): |
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#print("On conveyor belt") |
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conveyor_belt_direction = 1 if randi_range(0, 1) == 0 else -1 |
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conveyor_belt_areas_entered += 1 |
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pass |
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if area.get_collision_layer_value(4): |
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#print("Enemy collision") |
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end_episode(-1.0) |
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func _on_area_3d_body_entered(body): |
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if body.get_collision_layer_value(10): |
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#print("Robot fell down") |
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end_episode(-1.0) |
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func end_episode(reward: float): |
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ai_controller.reward += reward |
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ai_controller.done = true |
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ai_controller.needs_reset = true |
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func _on_area_3d_area_exited(area): |
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if area.get_collision_layer_value(3): |
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conveyor_belt_areas_entered -= 1 |
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